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<div class="title">C:/Users/Luca/Documents/Workspaces/Workspace/BallBalancing_Win32/src/control/PID.hpp</div>  </div>
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<a href="_p_i_d_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * BallBalancing - Copyright (C) 2013 Luca D&#39;Onofrio.</span>
<a name="l00003"></a>00003 <span class="comment"> *</span>
<a name="l00004"></a>00004 <span class="comment"> * This file is part of BallBalancing Project</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * BallBalancing is free software; you can redistribute it and/or modify</span>
<a name="l00007"></a>00007 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00008"></a>00008 <span class="comment"> * the Free Software Foundation; either version 3 of the License, or</span>
<a name="l00009"></a>00009 <span class="comment"> * (at your option) any later version.</span>
<a name="l00010"></a>00010 <span class="comment"> *</span>
<a name="l00011"></a>00011 <span class="comment"> * BallBalancing is distributed in the hope that it will be useful,</span>
<a name="l00012"></a>00012 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00013"></a>00013 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span>
<a name="l00014"></a>00014 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00017"></a>00017 <span class="comment"> * along with this program.  If not, see &lt;http://www.gnu.org/licenses/&gt;.</span>
<a name="l00018"></a>00018 <span class="comment"> *</span>
<a name="l00019"></a>00019 <span class="comment"> * This firmware is based on OpenCV 2.4.5, see &lt;http://www.opencv.org&gt;.</span>
<a name="l00020"></a>00020 <span class="comment"> */</span>
<a name="l00021"></a>00021 
<a name="l00032"></a>00032 <span class="preprocessor">#ifndef PID_HPP_</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span><span class="preprocessor">#define PID_HPP_</span>
<a name="l00034"></a>00034 <span class="preprocessor"></span>
<a name="l00035"></a>00035 <span class="comment">/*===========================================================================*/</span>
<a name="l00036"></a>00036 <span class="comment">/* Include files.                                                            */</span>
<a name="l00037"></a>00037 <span class="comment">/*===========================================================================*/</span>
<a name="l00038"></a>00038 
<a name="l00039"></a>00039 <span class="preprocessor">#include &lt;windows.h&gt;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &lt;stdio.h&gt;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &lt;stdlib.h&gt;</span>
<a name="l00042"></a>00042 
<a name="l00043"></a>00043 <span class="comment">/*===========================================================================*/</span>
<a name="l00044"></a>00044 <span class="comment">/* Defines and Macros.                                                       */</span>
<a name="l00045"></a>00045 <span class="comment">/*===========================================================================*/</span>
<a name="l00046"></a>00046 
<a name="l00058"></a><a class="code" href="group___control.html#ga5de5e8e3ab304842347b047eb9a7a468">00058</a> <span class="preprocessor">#define map(in, inMin, inMax, outMin, outMax) \</span>
<a name="l00059"></a>00059 <span class="preprocessor">        (((float)in - (float)inMin) / \</span>
<a name="l00060"></a>00060 <span class="preprocessor">        ((float)inMax - (float)inMin) * \</span>
<a name="l00061"></a>00061 <span class="preprocessor">        ((float)outMax - (float)outMin) + (float)outMin)</span>
<a name="l00062"></a>00062 <span class="preprocessor"></span>
<a name="l00075"></a><a class="code" href="group___control.html#gae534547361f20b9a2207606251572301">00075</a> <span class="preprocessor">#define constrain(value, min, max) \</span>
<a name="l00076"></a>00076 <span class="preprocessor">        ( (value&lt;min)? min: ((value&gt;min)?max:value))</span>
<a name="l00077"></a>00077 <span class="preprocessor"></span>
<a name="l00078"></a>00078 <span class="comment">/*===========================================================================*/</span>
<a name="l00079"></a>00079 <span class="comment">/* Types definitions.                                                        */</span>
<a name="l00080"></a>00080 <span class="comment">/*===========================================================================*/</span>
<a name="l00081"></a>00081 
<a name="l00082"></a>00082 <span class="comment">/*</span>
<a name="l00083"></a>00083 <span class="comment"> * @brief    PID controller class.</span>
<a name="l00084"></a>00084 <span class="comment"> */</span>
<a name="l00085"></a><a class="code" href="class_p_i_d.html">00085</a> <span class="keyword">class </span><a class="code" href="class_p_i_d.html">PID</a> {
<a name="l00086"></a>00086 <span class="keyword">private</span>:
<a name="l00087"></a><a class="code" href="class_p_i_d.html#a77d4138c9daab12fdf042aa5a4ffff68">00087</a>         <span class="keywordtype">float</span> <a class="code" href="class_p_i_d.html#a77d4138c9daab12fdf042aa5a4ffff68" title="Proportional gain.">P</a>;                                        
<a name="l00088"></a><a class="code" href="class_p_i_d.html#a0d406ecdc67396f399b84742b271c18c">00088</a>         <span class="keywordtype">float</span> <a class="code" href="class_p_i_d.html#a0d406ecdc67396f399b84742b271c18c" title="Integral gain.">I</a>;                                        
<a name="l00089"></a><a class="code" href="class_p_i_d.html#ac64494c2d6b8874248baec5328cfa63f">00089</a>         <span class="keywordtype">float</span> <a class="code" href="class_p_i_d.html#ac64494c2d6b8874248baec5328cfa63f" title="Derivative gain.">D</a>;                                        
<a name="l00090"></a><a class="code" href="class_p_i_d.html#a8111a63a1f7c43d8ba18904e420b8fbf">00090</a>         <span class="keywordtype">float</span> <a class="code" href="class_p_i_d.html#a8111a63a1f7c43d8ba18904e420b8fbf" title="Last reference value.">lastPosition</a>;             
<a name="l00091"></a><a class="code" href="class_p_i_d.html#a03edc16555f37cd01d2af9f050a3e206">00091</a>         <span class="keywordtype">int</span> <a class="code" href="class_p_i_d.html#a03edc16555f37cd01d2af9f050a3e206" title="Previous PID update time.">previousPIDTime</a>;            
<a name="l00092"></a><a class="code" href="class_p_i_d.html#a8df49529ada444c008092625e785c18b">00092</a>         <span class="keywordtype">bool</span> <a class="code" href="class_p_i_d.html#a8df49529ada444c008092625e785c18b" title="Initialization flag.">firstPass</a>;                         
<a name="l00093"></a><a class="code" href="class_p_i_d.html#ad950cf7d52e710697cfae502332cf280">00093</a>         <span class="keywordtype">float</span> <a class="code" href="class_p_i_d.html#ad950cf7d52e710697cfae502332cf280" title="Last integral error.">integratedError</a>;          
<a name="l00094"></a><a class="code" href="class_p_i_d.html#ae84efe30e81886ccf3bd9570ad5665d2">00094</a>         <span class="keywordtype">float</span> <a class="code" href="class_p_i_d.html#ae84efe30e81886ccf3bd9570ad5665d2" title="Integral saturation guard.">windupGuard</a>;                      
<a name="l00095"></a>00095 
<a name="l00096"></a>00096 <span class="keyword">public</span>:
<a name="l00097"></a>00097         <a class="code" href="group___control.html#ga6b6b4ec371d4bdf395be50f08ed3b04e" title="The constructor.">PID</a>(<span class="keywordtype">float</span> <a class="code" href="class_p_i_d.html#a77d4138c9daab12fdf042aa5a4ffff68" title="Proportional gain.">P</a>, <span class="keywordtype">float</span> <a class="code" href="class_p_i_d.html#a0d406ecdc67396f399b84742b271c18c" title="Integral gain.">I</a>, <span class="keywordtype">float</span> <a class="code" href="class_p_i_d.html#ac64494c2d6b8874248baec5328cfa63f" title="Derivative gain.">D</a>);
<a name="l00098"></a>00098         <a class="code" href="group___control.html#gab7d389fc5b88d881bc25f5dafd360441" title="The destructor.">~PID</a>();
<a name="l00099"></a>00099 
<a name="l00100"></a>00100         <span class="keywordtype">void</span> <a class="code" href="group___control.html#ga953e7ee82c4a11997d740771a2b1d610" title="Set P value.">setP</a>(<span class="keywordtype">float</span> val);
<a name="l00101"></a>00101         <span class="keywordtype">void</span> <a class="code" href="group___control.html#gaf797ee59d8789940905d9b3692a801ab" title="Set I value.">setI</a>(<span class="keywordtype">float</span> val);
<a name="l00102"></a>00102         <span class="keywordtype">void</span> <a class="code" href="group___control.html#ga63ddc5b4d6f6f4cd2166d27b96102240" title="Set D value.">setD</a>(<span class="keywordtype">float</span> val);
<a name="l00103"></a>00103         <span class="keywordtype">float</span> <a class="code" href="group___control.html#ga00974abc051527b2dcdcaf15d766872b" title="PID controller update function.">updatePID</a>(<span class="keywordtype">float</span> targetPosition, <span class="keywordtype">float</span> currentPosition);
<a name="l00104"></a>00104 
<a name="l00105"></a>00105 };
<a name="l00106"></a>00106 
<a name="l00107"></a>00107 <span class="preprocessor">#endif </span><span class="comment">/* PID_HPP_ */</span>
<a name="l00108"></a>00108 
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